Conclusion

Acoustic source localization has many applications such as robotics, navigation, and defense. This particular research project expanded on researched previously performed by Josh York and was done in partnership with Zach Knudsen and Raphael Schwartz, who worked on the real-time data acquisition and processing side the project. Overall, the research project was successful in achieving a robotic platform for the microphone array and an adaptive controller for optimized source localization. However, further research into the behavior of the resolution field is promising and could provide a more efficient adaptive controller. This research project will also be taken another step further with additional degrees of freedom for the robotic movement, but the current design of the robotic platform is primitive and will require a completely new design.

 

Acknowledgements

I would like to give a special thanks to all of those involved with this research project. Without your help and support, this would not have been possible. Thanks!

· Dr. Arye Nehorai

· Ed Richter

· Patricio La Rosa

· Phani Chavali

· Josh York

· Zach Knudsen

· Raphael Schwartz

Washington University in St. Louis

Department of Electrical and Systems Engineering

Robotic Microphone Sensing: Optimizing Source Estimation and Algorithms for Adaptive Control

Chase LaFont - Undergraduate Research Summer/Fall ‘09